| 摘要 |
An image processing apparatus 100-1 includes camera 103 which inputs an image of a work/object 101 (i.e. a workpiece such as a component) into image processing unit 104. Work state estimation unit 106 means estimates a state (i.e. position or orientation) of the object from the image. Each of a variety of possible object states has an associated probability of occurrence (an occurrence probability) which has been predetermined and stored in probability storage means 109. Occurrence probabilities are calculated using occurrence frequencies obtained by repeating a virtual simulation of a 3D model of the object. A reliability calculation unit 110 calculates a reliability measure for the object state estimation using the estimated object state and the associated occurrence probability. Also claimed are a corresponding image processing method and a work picking system configured to pick individual workpieces/objects one-by-one by using the aforementioned image processing apparatus to manipulate a robotic arm 111 and hand 112 (figure 10). The present invention seeks to provide an apparatus and method for reducing errors in the estimation of position and orientation of imaged objects. |
